EP3159075A1 - Continuous casting plant for producing a metallic strand or a slab and method for operating such a continuous casting plant - Google Patents

Abstract

The invention relates to a continuous casting plant (1) for producing a metallic strand (2) or a slab, wherein the continuous casting plant (1) has at least one robot (3). In order to allow an improved and flexible analysis of the strand or slab, the invention provides that the robot (3) is designed as a multi-axis robot having a sensor (5) and / or a machining tool with one end of a robot arm (4) over the strand (2) or the slab can lead. Furthermore, the invention relates to a method for operating such a continuous casting plant.

Description

The invention relates to a continuous casting plant for producing a metallic strand, wherein the continuous casting plant has at least one robot. Furthermore, the invention relates to a method for operating such a continuous casting plant.

Generic solutions are from the WO 2007/057061 A1 , from the EP 2 393 636 B1 and from the EP 1 750 872 B1 known.

To ensure a good product quality is known to be monitored and measured in a continuous casting of the strand or the slab by a variety of sensors of different function. For example, the surface temperature of the strand or the slab is detected by means of a pyrometer. Laser scanners or radar sensors are used to check the geometry of the strand or slab. Cameras are used to test the surface of the strand or slab. Furthermore, ultrasonic sensors for testing the internal quality of the strand or slab are known. The sensors can be accommodated at different points of the continuous casting plant, wherein they are placed in particular stationary.

Often it is advantageous not only to use a sensor in one place, but to be able to position it in different places. For this purpose, it is known to move the sensors along an axis on the strand or over the strand. The disadvantage of this solution is that the possible locations of use of the sensors are still severely limited and the devices used are exposed to a very high thermal load.

A further disadvantage is that surface conditions for the measurement are present on the strand, which adversely affect the measurement. It would be advantageous for sensory measurements to be able to provide for manipulation of the strand surface. For example, cameras could pick up significantly better data from the strand surface if the scale surrounding the strand were removed prior to taking the strand of the camera.

The invention has for its object to propose a generic continuous casting and a method for their operation, which makes it possible to perform an improved and flexible analysis of the strand or slab.

The solution to this problem by the invention is characterized in that the robot is designed as a multi-axis robot, which can lead with one end of a robot arm, a sensor and / or a machining tool on the strand or slab.

The robot is preferably designed to guide a sensor and / or a machining tool synchronously with the movement of the strand or the slab in the conveying direction of the strand or the slab.

The robot further preferably has a magazine in which a number of sensors and / or processing tools are placed, which can be automatically assembled and disassembled by means of a changing system at the end of the robot arm.

The at least one sensor is in particular designed to detect a geometric size of the strand or of the slab, the temperature of the strand or of the slab or the chemical composition of the material of the strand or of the slab.

The at least one machining tool is preferably designed to perform a machining process, in particular a grinding process or a drilling process, on the surface of the strand or the slab or a descaling of the surface of the strand or the slab.

In order for the sensor or the machining tool to be able to follow the movement of the strand or the slab preferably synchronously, a particularly preferred embodiment of the invention provides that the robot is placed on a moving unit (conveying device) with which the robot moves in the conveying direction of the strand or the slab can be moved.

Of course, the track is not mandatory. In principle, the robot can also follow the strand or the slab by its normal movement. The optionally provided trajectory can move the robot both in the conveying direction of the strand or the slab and vertically or transversely thereto. In a movement perpendicular or transverse to the conveying direction, due to the kinematic limitations of the robot, the actual working space becomes larger. So it is very difficult to view both the surface of the strand or the slab from above and the side surfaces from the side without the robot a bit away from the strand or the slab can move away. This difficulty is eliminated by using a moving unit that moves the robot.

The robot and optionally the track unit are preferably arranged at the outlet of the strand guide of the continuous casting. In this case, the strand or the slab in the strand outlet area or in the slab outlet can be manipulated particularly favorable and / or measured.

The robot can also be arranged in the cooling chamber of the continuous casting plant.

1. a) automatisiertes Bestücken des Roboters mit einem Sensor aus einem Magazin;
2. b) Anschließend: Vermessen einer Stelle des Strangs oder der Bramme mit dem Sensor.

The proposed method for operating such a continuous casting plant according to the invention provides the steps:

1. a) automated loading of the robot with a sensor from a magazine;
2. b) Subsequently: measuring a position of the strand or slab with the sensor.

• a') Vor der Durchführung des Schritts a): Bestücken des Roboters mit einem Bearbeitungswerkzeug und Bearbeiten einer definierten Stelle des Strangs oder der Bramme mit dem Bearbeitungswerkzeug;
• a") Nach Schritt a') und vor Schritt a): Entfernen des Bearbeitungswerkzeugs aus dem Roboter.

Advantageously, this method is further formed by further comprising the steps:

• a ') Before performing step a): loading the robot with a machining tool and machining a defined position of the strand or the slab with the machining tool;
• a ") After step a ') and before step a): removal of the machining tool from the robot.

A base part of the robot can remain stationary in carrying out steps a '), a "), a) and b).

Alternatively, however, it can also be provided that a base part of the robot is displaced in or across the conveying direction of the strand or the slab by at least some of the steps a '), a "), a) and b) by means of the displacement unit.

The invention thus relates to a device and a corresponding method for the metrological detection of relevant parameters in a continuous casting plant. With the proposed device and the corresponding Method, it is possible to make an effective test of the strand or slab within the continuous casting.

The concept according to the invention is therefore based on the idea of using a multi-axis industrial robot to guide various sensors on or over the strand or the slab; Also, the possibility should be created to manipulate the strand or slab before the measurement at the site to be measured, d. H. edit to gain improved metrics. The sensors are configured to detect a property of the strand or slab (for example, geometry, chemistry, defects, and temperature); The proposed system preferably has at least two different sensors. Furthermore, tools for machining (for example, for scarfing, grinding, descaling, needling and drilling) can be guided by the robot.

A measuring task is preferably carried out in such a way that the strand or the slab is first of all processed with an effector of the robot and subsequently the measurement of the processed position is carried out. Preferably, the robot is additionally moved by means of a suitable device.

In the region of the continuous casting plant to be measured, for example and preferably in the slab outlet, a multi-axis industrial robot is placed. The robot has a gripper changing system in order to be able to remove various sensors or manipulators from a corresponding magazine. The connections and supplies of the sensors and manipulators are preferably guided by the robots; but it can also lead external supply lines to the sensor or the effector of the robot. In the latter case, the movement of the robot must be restricted so that the cables and lines are not torn or damaged by the sensor or manipulator.

The robot can now remove a sensor from the magazine and place it in a metrologically favorable position above, below or next to the strand or the slab.

In a preferred embodiment of the invention, the robot itself can be placed on an apparatus - for example, a linear unit or a pivot axis - in order to increase its operating radius and to be able to completely cover even larger strand surfaces. It is also possible to connect the robot with the flame cutting machine, so that during the flame cutting process measurements and manipulations can be performed without the robot having to move along with the strand or the slab.

An extension of the proposed solution provides that the data measured by the robot act directly on the control of the continuous casting machine, thus allowing a direct feedback of the signals to the quality produced. In this case, for example, a detected deviation in the geometry of the strand or the slab can be made directly to the setting of the previous continuous casting or the mold to minimize the deviation for the subsequent production. Accordingly, the data measured by the sensor can be directly controlled and taken into account in the control of the continuous casting plant.

The use of the multi-axis industrial robot results in a number of advantages over the previously known solutions, such as linear units or stationary sensors.

Thus, a robot-guided sensor can move along with the strand or with the slab, so that a longer investigation of a specific point in the strand or in the slab is allowed.

If the strand or slab does not move excessively fast, the robot can measure a particular point in the strand or slab, then change the sensor and then measure the same point again with another sensor, allowing integration of different sensors ,

The change or maintenance of sensors is significantly simplified during operation with the inventive solution, since the magazine for the worker can be achieved much easier than a position directly on or above the strand or the slab.

When using different measuring methods, the space requirement of such a robot-based system is significantly reduced compared to a conventional system where the sensors - and possibly their necessary track axes - all have to be accommodated on the line.

In a corresponding installation, it is possible, the strand or slab from several sides - d. H. From the bottom, the top and the edges or sides - with a system scan or check.

Fig. 1

zeigt schematisch einen Teil einer Stranggießanlage in der Seitenansicht und

Fig. 2

zeigt schematisch die Stranggießanlage in der Draufsicht.

In the drawing, an embodiment of the invention is shown.

Fig. 1

schematically shows a part of a continuous casting in the side view and

Fig. 2

schematically shows the continuous casting in plan view.

In the figures, a part of a continuous casting plant 1 can be seen, in which a strand 2 is produced. From a strand guide 8, the last section in the conveying direction F can be seen; In this case, segments 9 of the strand guide 8 shown. The strand 2 passes in the course of a flame cutting machine 10th

At the outlet of the strand guide 8, a robot 3 is arranged, which is designed as a multi-axis industrial robot. It has a robot arm 4, at whose end a sensor 5 or a - not shown - machining tool can be arranged.

Next there is a magazine 6, in which various sensors 5 and processing tools are stored. Not shown is an automated change system, with the sensors 5 and processing tools at the end of the robot arm 4 can be mounted or dismounted. Such change systems are known in the art.

The strand 2 leaves in the conveying direction F, the strand guide 8 through the last segment 9. The cutting machine 10 divides the strand horizontally and thus generates the slab.

In the case shown, the robot 3 was already equipped with a sensor 5, which was automatically removed from the magazine 6 and mounted at the end of the robot arm 4. The sensor 5 is presently designed to measure a geometric property of the strand 2. Specifically, in the present case, the sensor is a camera that can receive a corresponding area of the strand 2. From the illustration according to FIG. 2 It follows that the sensor 5 in the form of the camera receives the strand surface from above.

Also schematically indicated is a moving unit 7 with which a base part 11 of the robot 3 can be moved in the conveying direction F.

According to a preferred mode of operation, a defined location of the strand 2 is first processed by means of a machining tool, for example exposed by machining. Subsequently, an automated change takes place from the machining tool to a sensor, ie the machining tool is removed and placed in the magazine 6; Subsequently, a sensor 5 is removed from the magazine 6 and mounted at the end of the robot arm 4.

On the basis of the robot 3 and optionally with the aid of the track 7 is then synchronously measured with the movement of the strand 2 in the conveying direction F, the pre-machined position of the strand 2 from the sensor 5 or examined.

The robot 3 and possibly the moving unit 7 thus ensure that a defined position of the strand 2 is prepared synchronously with the movement of the strand 2 in the conveying direction F (by means of a machining tool) and analyzed (by means of a sensor 5).

LIST OF REFERENCE NUMBERS

1

continuous casting plant

2

Strand / slab

3

robot

4

robot arm

5

sensor

6

magazine

7

Track unit (conveyor)

8th

strand guide

9

segment

10

Cutting machine

11

base

F

conveying direction

Claims (15)

Continuous casting plant (1) for producing a metallic strand (2) or a slab, the continuous casting plant (1) having at least one robot (3),
characterized,
in that the robot (3) is designed as a multi-axis robot which can guide one sensor (5) and / or one machining tool over the strand (2) or the slab with one end of a robot arm (4). Continuous casting plant according to claim 1, characterized in that the robot (3) is formed, a sensor (5) and / or a machining tool synchronously with the movement of the strand (2) or the slab in the conveying direction (F) of the strand (2) or to lead the slab. Continuous casting plant according to claim 1 or 2, characterized in that the robot (3) has a magazine (6) in which a number of sensors (5) and / or machining tools are placed, which are automated by means of a change system at the end of the robot arm (4 ) can be mounted and dismantled. Continuous casting plant according to one of claims 1 to 3, characterized in that the at least one sensor (5) is designed to detect a geometric size of the strand (2) or the slab. Continuous casting plant according to one of claims 1 to 3, characterized in that the at least one sensor (5) is designed to detect the temperature of the strand (2) or the slab. Continuous casting plant according to one of claims 1 to 3, characterized in that the at least one sensor (5) is designed to detect the chemical composition of the material of the strand (2) or the slab. Continuous casting plant according to one of claims 1 to 6, characterized in that the at least one machining tool is adapted to carry out a machining operation, in particular a grinding process or a drilling operation, on the surface of the strand (2) or the slab. Continuous casting plant according to one of claims 1 to 6, characterized in that the at least one processing tool is designed to perform a thermal processing operation, in particular a scarfing operation, on the surface of the strand (2) or the slab. Continuous casting plant according to one of claims 1 to 6, characterized in that the at least one machining tool is designed to perform a descaling of the surface of the strand (2) or the slab. Continuous casting plant according to one of claims 1 to 9, characterized in that the robot (3) is placed on a moving part (7), with which the robot (3) in the conveying direction (F) of the strand (2) or the slab and / or can be moved perpendicular or transverse to the conveying direction (F). Continuous casting plant according to one of claims 1 to 10, characterized in that the robot (3) and optionally the moving unit (7) is arranged at the outlet of the strand guide (8) of the continuous casting plant (1) or at the slab outlet. Method for operating a continuous casting plant (1) according to one of Claims 1 to 11,
characterized,
that it has the steps: a) automated loading of the robot (3) with a sensor (5) from a magazine (6); b) Subsequently: measuring a position of the strand (2) or the slab with the sensor (5). Method according to claim 12, characterized in that it further comprises the steps of: a ') Before performing step a) according to claim 12: loading the robot (3) with a machining tool and machining a defined position of the strand (2) or the slab with the machining tool; a ") After step a ') and before step a) according to claim 12: removing the machining tool from the robot (3). A method according to claim 12 or 13, characterized in that a base part (11) of the robot (3) in the implementation of steps a '), a "), a) and b) according to claim 12 and 13 remains stationary. A method according to claim 12 or 13, characterized in that a base part (11) of the robot (3) in carrying out at least some of the steps a '), a "), a) and b) according to claim 13 and 14 by means of the track ( 7) in the conveying direction (F) of the strand (2) or the slab is moved.

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